Vehicle cut-in strategy

ABSTRACT

A vehicle system includes a first sensor configured to output a first signal and a second sensor configured to output a second signal. The first and second signals represent movement of a potential cut-in vehicle. The vehicle system further includes a processing device programmed to compare the movement of the potential cut-in vehicle to at least one threshold. The processing device selects the potential cut-in vehicle as an in-path vehicle if the movement exceeds the at least one threshold.

BACKGROUND

Autonomous vehicles are subject to the same situations as human-drivenvehicles. For example, autonomous vehicles will encounter potholes,closed lanes, stalled vehicles, and debris in the roadway. Someobstacles are easier to navigate around than others. For example,navigating around a stationary object is easier for a human driver aswell as an autonomous vehicle. Avoiding moving objects, including othervehicles, can be more difficult.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 illustrates an example autonomous vehicle implementing a vehiclecut-in strategy.

FIG. 2 is a block diagram of a vehicle system that may be incorporatedinto the vehicle of FIG. 1.

FIGS. 3A-3C are block diagrams illustrating cut-in situations.

FIG. 4 is a flowchart of an example process for detecting a potentialvehicle cut-in.

FIG. 5 is a flowchart of another possible implementation of the processof FIG. 4.

FIG. 6 is a flowchart of an example process for ignoring false-positivecut-in situations.

DETAILED DESCRIPTION

Autonomous vehicles can employ a cut-in strategy to deal with cut-insituations. A “cut-in” occurs when another vehicle, referred to as the“cut-in vehicle”, attempts to enter the path of the autonomous vehicle.Sometimes, cut-in situations can be ignored. Other times, the cut-invehicle should be considered an “in-path” vehicle, that is, a vehicle inthe lane of the autonomous vehicle. The cut-in strategy implemented bythe autonomous vehicle dictates when a potential cut-in vehicle shouldbe ignored and when it should be considered an in-path vehicle.

An example autonomous vehicle employing such a cut-in strategy includesa first sensor configured to output a first signal and a second sensorconfigured to output a second signal. The first and second signalsrepresent movement of a potential cut-in vehicle. For instance, thefirst signal may include a radar signal and the second signal mayinclude a video signal. The vehicle system further includes a processingdevice programmed to compare the movement of the potential cut-invehicle to at least one threshold. The processing device selects thepotential cut-in vehicle as an in-path vehicle if the movement exceedsthe at least one threshold. Otherwise, the potential cut-in vehicle isignored.

The elements shown in the figures may take many different forms andinclude multiple and/or alternate components and facilities. The examplecomponents illustrated are not intended to be limiting. Indeed,additional or alternative components and/or implementations may be used.

As illustrated in FIG. 1, the autonomous vehicle 100, referred to as the“host vehicle”, includes a vehicle system 105 for detecting potentialvehicle cut-ins and ignoring certain cut-in situations asfalse-positives. Although illustrated as a sedan, the host vehicle 100may include any passenger or commercial automobile such as a car, atruck, a sport utility vehicle, a crossover vehicle, a van, a minivan, ataxi, a bus, etc. Further, the vehicle may be configured to operate inan autonomous (e.g., driverless) mode, a partially autonomous mode, or anon-autonomous mode.

FIG. 2 is a block diagram of the vehicle system 105 that may beincorporated into the host vehicle 100. As shown, the vehicle system 105includes a radar sensor 110, a vision sensor 115, and a processingdevice 120.

The radar sensor 110 may be configured to send a radio frequency (RF)signal, receive a reflected signal, and generate a radar signal inaccordance with the reflected signal received. The radar signal mayrepresent the presence of objects in the path of the host vehicle 100.Examples of such objects may include in-path vehicles and potentialcut-in vehicles. Moreover, the radar sensor 110 may be configured todetect movement of objects. Thus, the radar signal may further representthe detected movement.

The vision sensor 115 may be configured to output a video signalrepresenting objects in view of the vision sensor 115. In one possibleimplementation, the vision sensor 115 includes a camera. The videosignal may be processed to show, e.g., in-path vehicles and potentialcut-in vehicles. Moreover, movement of the in-path vehicles andpotential cut-in vehicles may be represented by the video signal.

The processing device 120 may be programmed to implement the vehiclecut-in strategy in accordance with the radar signal and the videosignal. For instance, the processing device 120 may be programmed toprocess the radar and video signals to determine the movement of apotential cut-in vehicle, compare the movement of the potential cut-invehicle to one or more thresholds, and determine whether to ignore thepotential cut-in vehicle or select the potential cut-in vehicle as anin-path vehicle based on whether the movement falls short of or exceedsthe threshold.

Examples of thresholds may include a lateral speed threshold or avirtual boundary. The “lateral speed” may refer to how quickly thepotential cut-in vehicle is moving laterally relative to the hostvehicle 100. The “virtual boundary”, discussed in greater detail belowwith reference to FIGS. 3A-3C, may refer to a space in front of the hostvehicle 100 in “view” of both the radar sensor 110 and the vision sensor115. If the lateral speed of the potential cut-in vehicle exceeds thespeed threshold, and if a minimum percentage of the potential cut-invehicle has crossed the virtual boundary, the processing device 120 maybe programmed to select the potential cut-in vehicle as an in-pathvehicle. Otherwise, the processing device 120 may ignore the potentialcut-in vehicle.

In addition to detecting potential cut-in situations, the processingdevice 120 may be further programmed to determine whether the cut-inshould be classified as a left-to-right cut-in or a right-to-leftcut-in. A left-to-right cut-in may occur when the potential cut-invehicle enters the virtual boundary from the left of the host vehicle100. A right-to-left cut-in may occur when the potential cut-in vehicleenters the virtual boundary from the right of the host vehicle 100.Thus, the movement of the potential cut-in vehicle relative to thevirtual boundary may be used to classify the potential cut-in direction.This cut-in direction can be further used to drop the cut-in targetquickly in case of an incomplete cut-in maneuver.

To avoid potential false-negatives, the processing device 120 may beprogrammed to consecutively observe a minimum number of the samepotential cut-in situation before determining whether to select thepotential cut-in vehicle as an in-path vehicle or before electing toignore a potential cut-in situation (i.e., clear a flag indicating acut-in situation). For instance, the processing device 120 may beprogrammed to observe the same potential cut-in situation at least,e.g., three consecutive times before acting on the potential cut-insituation. The processing device 120 may include an internal counter 125that may be incremented each time the potential cut-in situation isobserved and reset each time a potential cut-in situation is notobserved.

FIGS. 3A-3C illustrate different potential cut-in situations. In each ofFIGS. 3A-3C, the virtual boundary 130 includes an inner boundary 135 andan outer boundary 140. Both the inner boundary 135 and outer boundary140 each include two sides, referred to below as a “left side” and a“right side”. It is not necessary for the two sides to be parallel.Rather, in some possible approaches, the two sides may be calibrated asa function of range or some other parameters.

In FIG. 3A, the potential cut-in vehicle 145 enters the virtual boundary130 from the left and stays in the path of the host vehicle 100. In thissituation, the vehicle system 105 will select the potential cut-invehicle 145 as an in-path vehicle. The vehicle system 105 may firstobserve, via the radar and video signals, that the right edge andcentroid of the potential cut-in vehicle 145 has crossed the left sidesof the inner and outer boundaries. Accordingly, the vehicle system 105may categorize the potential cut-in situation shown in FIG. 3A as aleft-to-right cut-in. Moreover, the vehicle system 105 may select thepotential cut-in vehicle 145 as an in-path vehicle because the potentialcut-in vehicle 145 stays in the path of the host vehicle 100. Thevehicle system 105 may determine that the potential cut-in vehicle 145has stayed in the path of the host vehicle 100 after observing that theedges and centroid of the potential cut-in vehicle 145 do not cross theinner boundary 135 within a short time (e.g., several seconds) of thepotential cut-in vehicle 145 entering the inner and outer boundaries.Although discussed in the context of a left-to-right cut-in situation, asimilar approach may be applied in a potential right-to-left cut-insituation.

FIGS. 3B and 3C, however, present situations where the potential cut-invehicle 145 will not be selected as an in-path vehicle. In FIG. 3B, thepotential cut-in vehicle 145 begins to enter the virtual boundary 130.For instance, the right edge of the potential cut-in vehicle 145 maycross the left side of the outer boundary 140, the left side of theinner boundary 135, or both (i.e., the beginning of a left-to-rightcut-in situation). The potential cut-in vehicle 145 may then veer awayfrom the path of the host vehicle 100. Therefore, shortly afterpartially crossing the virtual boundary 130, the right edge of thepotential cut-in vehicle 145 crosses the left side of the inner boundary135, the outer boundary 140, or both. The centroid of the potentialcut-in vehicle 145 never crosses the left side of the inner boundary135. Therefore, the vehicle system 105 may determine that the potentialcut-in vehicle 145 should not be considered an in-path vehicle. Althoughdiscussed in the context of a left-to-right cut-in situation, a similarapproach may be applied in a potential right-to-left cut-in situation.

In FIG. 3C, the potential cut-in vehicle 145 enters the path of the hostvehicle 100 but continues to a different lane that is not in the path ofthe host vehicle 100. As illustrated, the right edge and centroid of thecut-in vehicle crosses the left sides of the inner and outer boundaries,which the vehicle system 105 may interpret as a potential left-to-rightcut-in situation. However, immediately (i.e., within a few seconds)after entering the path of the host vehicle 100, the right edge andcentroid of the potential cut-in vehicle 145 cross the right side of theinner boundary 135 and outer boundary 140. In response to observing suchmovement, the vehicle system 105 may determine that the potential cut-invehicle 145 is not an in-path vehicle. Although discussed in the contextof a left-to-right cut-in situation, a similar approach may be appliedin a potential right-to-left cut-in situation.

The example cut-in situations shown in FIGS. 3A-3C are just a fewexamples of potential cut-in vehicle 145 movement that the vehiclesystem 105 may observe. Other example situations may include an edge ofthe potential cut-in vehicle 145, but not the centroid, crossing oneside of the virtual boundary 130 twice (into and out of the path of thehost vehicle 100); and one edge and the centroid of the potential cut-invehicle 145 crossing one side, but not the other edge (i.e., thepotential cut-in vehicle 145 is partially occupying two lanes), for morethan a brief period of time. The outcome of the situations presented inFIGS. 3A-3C, as well as other example situations, may depend on factorssuch as how much of the potential cut-in vehicle 145 is within thevirtual boundary 130, including how much of the potential cut-in vehicle145 is within the outer boundary 140, the inner boundary 135, or both;and how many consecutive times the potential cut-in vehicle 145 has beenobserved in the path of the host vehicle 100. For instance, if morethan, e.g., 10% of the potential cut-in vehicle 145 is within thevirtual boundary 130, and if more than 10% of the potential cut-invehicle 145 has been observed within the virtual boundary 130 at leastthree consecutive times, the vehicle system 105 may determine that thepotential cut-in vehicle 145 is an in-path vehicle.

FIG. 4 is a flowchart of an example process 400 for detecting apotential vehicle cut-in. The process 400 may be implemented by thevehicle system 105 any time the host vehicle 100 is operating in anautonomous or partially autonomous mode.

At block 405, the processing device 120 may receive a radar signal. Theradar signal may be generated and output by the radar sensor 110 and mayrepresent movement of potential cut-in vehicle 145 s and in-pathvehicles relative to the host vehicle 100.

At block 410, the processing device 120 may receive a video signal. Thevideo signal may be generated and output by the vision sensor 115. Likethe radar signal, the video signal may represent the movement of othervehicles including potential cut-in vehicle 145 s and in-path vehicles.

At block 415, the processing device 120 may process the radar and videosignals. For instance, the processing device 120 may determine whetherany of the detected movement relates to potential cut-in vehicle 145 s,in-path vehicles, both, or neither.

At decision block 420, the processing device 120 may determine whether apotential cut-in vehicle 145 has been detected. In one possibleapproach, the processing device 120 may determine whether the potentialcut-in vehicle 145 has been detected if both the radar signal and thevisual signal confirm the presence of the potential cut-in vehicle 145.That is, the processing device 120 may compare the location of thepotential cut-in vehicle 145 to the virtual boundary 130. As discussedabove, the virtual boundary 130 may include the inner boundary 135, theouter boundary 140, or both. The presence of the potential cut-invehicle 145 may be determined by the location of the potential cut-invehicle 145 to the virtual boundary 130, including how much, if any, ofthe potential cut-in vehicle 145 is within the virtual boundary 130. Ifthe potential cut-in vehicle 145 has been detected, the process 400 maycontinue at block 425. Otherwise, the process 400 may continue at block405.

At block 425, the processing device 120 may determine the direction ofthe potential cut-in. For instance, the processing device 120 mayclassify the potential cut-in as a “left-to-right” cut-in or a“right-to-left” cut-in. A left-to-right cut-in may be detected when theright edge of the potential cut-in vehicle 145 crosses a left side ofthe virtual boundary 130, and a right-to-left cut-in may be detectedwhen the left edge of the potential cut-in vehicle 145 crosses a rightside of the virtual boundary 130.

At decision block 430, the processing device 120 may determine whetherto select the potential cut-in vehicle 145 as an in-path vehicle. In onepossible implementation, the processing device 120 may only select thepotential cut-in vehicle 145 as an in-path vehicle if the potentialcut-in vehicle 145 is consecutively observed cutting in, relative to thehost vehicle 100, a predetermined number of times. If so, the process400 may continue at block 435. Otherwise, the process 400 may ignore thepotential cut-in vehicle 145, and the process 400 may return to block405.

At block 435, the processing device 120 may select the potential cut-invehicle 145 as an in-path vehicle and autonomously control the hostvehicle 100 accordingly. The process 400 may return to block 405 afterblock 435 and may continue to execute until the host vehicle 100 isturned off or is otherwise no longer operating in an autonomous orpartially autonomous mode.

FIG. 5 is a flowchart of another possible implementation of certainparts of the process 400 described above with reference to FIG. 4. Likethe process 400, the process 500 shown in FIG. 5 may be implemented bythe vehicle system 105 any time the host vehicle 100 is operating in anautonomous or partially autonomous mode. Moreover, the process 500 maybe initiated after a potential cut-in has been detected.

At decision block 505, the processing device 120 may determine whether acut-in flag has been set. The cut-in flag may indicate that a cut-invehicle has already been detected. If the cut-in flag has been set, theprocess 500 may end and the process 600, discussed below with referenceto FIG. 6, may begin. If the cut-in flag has not been set, the process500 may continue at decision block 510.

At decision block 510, the processing device 120 may determine whetherthe potential cut-in vehicle 145 is a left-to-right cut-in. Aleft-to-right cut-in may be detected when the right edge of thepotential cut-in vehicle 145 crosses a left side of the virtual boundary130. If the virtual boundary 130 includes both an inner and outerboundary 140, the left-to-right cut-in may be observed when the rightedge of the vehicle crosses the left side of the inner boundary 135. Theprocessing device 120 may further consider the lateral speed of thepotential cut-in vehicle 145 when determining whether the potentialcut-in is a left-to-right cut-in. If the potential cut-in is aleft-to-right cut-in, the process 500 may continue at block 515.Otherwise, the process 500 may continue at block 520.

At block 515, the processing device 120 may increment a counter 125. Thecounter 125 may be used to count the number of consecutive times acut-in situation has been observed.

At decision block 520, the processing device 120 may determine whetherthe potential cut-in situation is a right-to-left cut-in. aright-to-left cut-in may be detected when the left edge of the potentialcut-in vehicle 145 crosses a right side of the virtual boundary 130. Ifthe virtual boundary 130 includes both an inner and outer boundary 140,the right-to-left cut-in may be observed when the left edge of thevehicle crosses the right side of the inner boundary 135. The processingdevice 120 may further consider the lateral speed of the potentialcut-in vehicle 145 when determining whether the potential cut-in is aright-to-left cut-in. If the potential cut-in is a right-to-left cut-in,the process 500 may continue at block 515. Otherwise, the process 500may continue at block 525.

At block 525, the processing device 120 may reset the counter 125. Thisway, only consecutive observations of a particular type of cut-insituation will increment the counter 125, and the counter 125 will bereset every time a non-cut-in situation is observed.

At decision block 530, the processing device 120 may determine whetherthe count exceeds a predetermined threshold. By comparing the count tothe predetermined threshold, the processing device 120 may only considerpotential cut-in vehicle 145 s that consecutively exhibit the potentialcut-in situation the predetermined number of times as the in-pathvehicle. As shown in FIG. 5, the predetermined threshold is three.Different numbers may be used, however.

At decision block 535, the processing device 120 may compare the lateralspeed of the potential cut-in vehicle 145 to a predetermined thresholdrelative to the host vehicle 100. The predetermined threshold may bezero so that, e.g., positive lateral speeds may indicate a, e.g.,left-to-right cut-in and negative lateral speeds may indicate a, e.g.,right-to-left cut-in. If the lateral speed exceeds the predeterminedthreshold, the process 500 may continue at block 540. Otherwise, theprocess 500 may continue at block 545.

At block 540, the processing device 120 may classify the cut-insituation as a left-to-right cut-in situation. The process 500 maycontinue at block 550 after block 540.

At block 545, the processing device 120 may classify the cut-insituation as a left-to-right cut-in situation. The process 500 maycontinue at block 550 after block 545.

At block 550, the processing device 120 may select the potential cut-invehicle 145 as the in-path vehicle and autonomously control the hostvehicle 100 accordingly. One way to select the potential cut-in vehicle145 as the in-path vehicle is to set a flag indicating the type ofcut-in situation. Moreover, the processing device 120 may reset thecounter 125.

FIG. 6 is a flowchart of an example process 600 for ignoringfalse-positive cut-in situations. The process 600 may be executed if,e.g., a cut-in flag has already been set. Therefore, process 600 maybegin after block 505 of the process 500 discussed above with referenceto FIG. 5.

At decision block 605, the processing device 120 may determine whetherthe cut-in was determined to be a left-to-right cut-in situation. If so,the process 600 may continue at block 610. Otherwise, the process 600may continue at block 645.

At decision block 610, the processing device 120 may determine whetherthe right edge of the potential cut-in vehicle 145 is outside thevirtual boundary 130, and in particular, the outer boundary 140. Apotential cut-in vehicle 145 with the right edge outside the outerboundary 140 suggests that the potential cut-in vehicle 145 does notintend to perform a cut-in maneuver. If the right edge is outside theouter boundary 140, the process 600 may continue at block 615. If theright edge of the potential cut-in vehicle 145 is within the outerboundary 140, the process 600 may continue at block 620.

At block 615, the processing device 120 may increment a counter 125. Thecounter 125 may be used to count the number of consecutive times anon-cut-in situation has been observed.

At decision block 620, the processing device 120 may determine whetherthe centroid of the potential cut-in vehicle 145 is within the innerboundary 135. The centroid of the potential cut-in vehicle 145 stayingwithin the inner boundary 135 suggests that the potential cut-in vehicle145 is already in the path of the host vehicle 100 and, therefore, doesnot intend to perform a cut-in maneuver. If the centroid is within theinner boundary 135, the process 600 may continue at block 615 so thatthe counter 125 may be incremented. Otherwise, the process 600 maycontinue at block 625.

At decision block 625, the processing device 120 may determine whetherthe lateral speed of the potential cut-in vehicle 145 suggests that thepotential cut-in vehicle 145 is moving laterally (e.g., to the right fora left-to-right cut-in situation). The processing device 120 may furtherdetermine whether at least, e.g., 10% of the potential cut-in vehicle145 is outside the inner boundary 135. If the potential cut-in vehicle145 is not moving laterally, and if not more than, e.g., 10% of thepotential cut-in vehicle 145 is within the inner boundary 135, theprocess 600 may continue at block 615. Otherwise, the process 600 maycontinue to block 630.

At block 630, the processing device 120 may reset the counter 125 tozero. This way, only consecutive observations of non-cut-in situationswill increment the counter 125, and the counter 125 will be reset everytime a potential cut-in situation is observed.

At decision block 635, the processing device 120 may determine whetherto clear the cut-in flag. In one possible implementation, the processingdevice 120 may only clear the cut-in flag if the potential cut-invehicle 145 is consecutively observed performing non-cut-in maneuvers,relative to the host vehicle 100, a predetermined number of times (e.g.,three times in the example of block 635). If the predetermined number ofnon-cut-in maneuvers is consecutively observed, the process 600 maycontinue at block 640. Otherwise, the process 600 may continue at block605.

At block 640, the processing device 120 may clear the cut-in flag andautonomously control the host vehicle 100 accordingly. The process 600may end after block 640, at least until a cut-in flag is subsequentlyset.

At decision block 645, the processing device 120 may determine whetherthe cut-in was determined to be a right-to-left cut-in situation. If so,the process 600 may continue at block 650. Otherwise, the process 600may continue at block 605 to await further potential cut-in situations.

At block 650, the processing device 120 may execute blocks similar toblocks 610, 620, 625, and 630 but adjusted for a right-to-left cut-in.For instance, instead of comparing the right edge of the to the outerboundary 140, which occurs at block 610, the processing device 120 mayinstead compare the left edge to the outer boundary 140, which may bemore relevant for a right-to-left cut-in. Moreover, when the processingdevice 120 compares the lateral speed, which also occurs at block 625,the processing device 120 may instead determine whether the lateralspeed suggests a right-to-left cut-in. The process 600 may continue atblock 615 after the right-to-left cut-in has been detected.

In general, the computing systems and/or devices described may employany of a number of computer operating systems, including, but by nomeans limited to, versions and/or varieties of the Ford Sync® operatingsystem, the Microsoft Windows® operating system, the Unix operatingsystem (e.g., the Solaris® operating system distributed by OracleCorporation of Redwood Shores, Calif.), the AIX UNIX operating systemdistributed by International Business Machines of Armonk, N.Y., theLinux operating system, the Mac OSX and iOS operating systemsdistributed by Apple Inc. of Cupertino, Calif., the BlackBerry OSdistributed by Blackberry, Ltd. of Waterloo, Canada, and the Androidoperating system developed by Google, Inc. and the Open HandsetAlliance. Examples of computing devices include, without limitation, anon-board vehicle computer, a computer workstation, a server, a desktop,notebook, laptop, or handheld computer, or some other computing systemand/or device.

Computing devices generally include computer-executable instructions,where the instructions may be executable by one or more computingdevices such as those listed above. Computer-executable instructions maybe compiled or interpreted from computer programs created using avariety of programming languages and/or technologies, including, withoutlimitation, and either alone or in combination, Java™, C, C++, VisualBasic, Java Script, Perl, etc. In general, a processor (e.g., amicroprocessor) receives instructions, e.g., from a memory, acomputer-readable medium, etc., and executes these instructions, therebyperforming one or more processes, including one or more of the processesdescribed herein. Such instructions and other data may be stored andtransmitted using a variety of computer-readable media.

A computer-readable medium (also referred to as a processor-readablemedium) includes any non-transitory (e.g., tangible) medium thatparticipates in providing data (e.g., instructions) that may be read bya computer (e.g., by a processor of a computer). Such a medium may takemany forms, including, but not limited to, non-volatile media andvolatile media. Non-volatile media may include, for example, optical ormagnetic disks and other persistent memory. Volatile media may include,for example, dynamic random access memory (DRAM), which typicallyconstitutes a main memory. Such instructions may be transmitted by oneor more transmission media, including coaxial cables, copper wire andfiber optics, including the wires that comprise a system bus coupled toa processor of a computer. Common forms of computer-readable mediainclude, for example, a floppy disk, a flexible disk, hard disk,magnetic tape, any other magnetic medium, a CD-ROM, DVD, any otheroptical medium, punch cards, paper tape, any other physical medium withpatterns of holes, a RAM, a PROM, an EPROM, a FLASH-EEPROM, any othermemory chip or cartridge, or any other medium from which a computer canread.

Databases, data repositories or other data stores described herein mayinclude various kinds of mechanisms for storing, accessing, andretrieving various kinds of data, including a hierarchical database, aset of files in a file system, an application database in a proprietaryformat, a relational database management system (RDBMS), etc. Each suchdata store is generally included within a computing device employing acomputer operating system such as one of those mentioned above, and areaccessed via a network in any one or more of a variety of manners. Afile system may be accessible from a computer operating system, and mayinclude files stored in various formats. An RDBMS generally employs theStructured Query Language (SQL) in addition to a language for creating,storing, editing, and executing stored procedures, such as the PL/SQLlanguage mentioned above.

In some examples, system elements may be implemented ascomputer-readable instructions (e.g., software) on one or more computingdevices (e.g., servers, personal computers, etc.), stored on computerreadable media associated therewith (e.g., disks, memories, etc.). Acomputer program product may comprise such instructions stored oncomputer readable media for carrying out the functions described herein.

With regard to the processes, systems, methods, heuristics, etc.described herein, it should be understood that, although the steps ofsuch processes, etc. have been described as occurring according to acertain ordered sequence, such processes could be practiced with thedescribed steps performed in an order other than the order describedherein. It further should be understood that certain steps could beperformed simultaneously, that other steps could be added, or thatcertain steps described herein could be omitted. In other words, thedescriptions of processes herein are provided for the purpose ofillustrating certain embodiments, and should in no way be construed soas to limit the claims.

Accordingly, it is to be understood that the above description isintended to be illustrative and not restrictive. Many embodiments andapplications other than the examples provided would be apparent uponreading the above description. The scope should be determined, not withreference to the above description, but should instead be determinedwith reference to the appended claims, along with the full scope ofequivalents to which such claims are entitled. It is anticipated andintended that future developments will occur in the technologiesdiscussed herein, and that the disclosed systems and methods will beincorporated into such future embodiments. In sum, it should beunderstood that the application is capable of modification andvariation.

All terms used in the claims are intended to be given their ordinarymeanings as understood by those knowledgeable in the technologiesdescribed herein unless an explicit indication to the contrary is madeherein. In particular, use of the singular articles such as “a,” “the,”“said,” etc. should be read to recite one or more of the indicatedelements unless a claim recites an explicit limitation to the contrary.

The Abstract is provided to allow the reader to quickly ascertain thenature of the technical disclosure. It is submitted with theunderstanding that it will not be used to interpret or limit the scopeor meaning of the claims. In addition, in the foregoing DetailedDescription, it can be seen that various features are grouped togetherin various embodiments for the purpose of streamlining the disclosure.This method of disclosure is not to be interpreted as reflecting anintention that the claimed embodiments require more features than areexpressly recited in each claim. Rather, as the following claimsreflect, inventive subject matter lies in less than all features of asingle disclosed embodiment. Thus the following claims are herebyincorporated into the Detailed Description, with each claim standing onits own as a separately claimed subject matter.

1. A vehicle system comprising: a first sensor configured to output afirst signal; a second sensor configured to output a second signal,wherein the first signal and the second signal represent movement of apotential cut-in vehicle; and a processing device programmed to comparethe movement of the potential cut-in vehicle to at least one thresholdand select the potential cut-in vehicle as an in-path vehicle if themovement exceeds the at least one threshold.
 2. The vehicle system ofclaim 1, wherein the at least one threshold includes a lateral speedthreshold.
 3. The vehicle system of claim 1, wherein the thresholdincludes a virtual boundary, and wherein the processing device isprogrammed to compare the movement of the potential cut-in vehicle tothe virtual boundary.
 4. The vehicle system of claim 3, whereincomparing the movement to the virtual boundary includes determiningwhether an edge of the potential cut-in vehicle has crossed the virtualboundary.
 5. The vehicle system of claim 3, wherein comparing themovement to the virtual boundary includes determining whether a centroidof the potential cut-in vehicle has crossed the virtual boundary.
 6. Thevehicle system of claim 3, wherein the virtual boundary includes aninner boundary and an outer boundary, wherein the inner boundary isdisposed within the outer boundary.
 7. The vehicle system of claim 6,wherein comparing the movement to the virtual boundary includesdetermining whether an edge of the potential cut-in vehicle has crossedthe inner boundary.
 8. The vehicle system of claim 6, wherein comparingthe movement to the virtual boundary includes determining whether acentroid of the potential cut-in vehicle has crossed the inner boundary.9. The vehicle system of claim 6, wherein the inner boundary includes afirst inner boundary side and a second inner boundary side and the outerboundary includes a first outer boundary side and a second outerboundary side, wherein the first and second inner boundary sides aredisposed between the first and second outer boundary sides.
 10. Thevehicle system of claim 9, wherein comparing the movement to the virtualboundary includes determining whether an edge of the potential cut-invehicle each of the first outer boundary side, the first inner boundaryside, the second inner boundary side, and the second outer boundaryside.
 11. The vehicle system of claim 9, wherein comparing the movementto the virtual boundary includes determining whether an edge of thepotential cut-in vehicle crossed the first outer boundary side multipletimes.
 12. The vehicle system of claim 9, wherein comparing the movementto the virtual boundary includes determining whether a centroid of thepotential cut-in vehicle is disposed between the first and second innerboundary sides.
 13. The vehicle system of claim 1, wherein theprocessing device is programmed to determine a cut-in direction.
 14. Thevehicle system of claim 1, wherein the first sensor includes a radarsensor and the second sensor includes a vision sensor.
 15. A methodcomprising: receiving a first signal representing movement of apotential cut-in vehicle; receiving a second signal representingmovement of the potential cut-in vehicle; comparing the movement to atleast one threshold; and selecting the potential cut-in vehicle as anin-path vehicle if the movement exceeds the at least one threshold. 16.The method of claim 15, further comprising generating a virtualboundary, and wherein comparing the movement to the threshold includescomparing the movement to the virtual boundary.
 17. The method of claim16, wherein comparing the movement to the virtual boundary includesdetermining whether an edge of the potential cut-in vehicle has crossedthe virtual boundary.
 18. The method of claim 16, wherein comparing themovement to the virtual boundary includes determining whether a centroidof the potential cut-in vehicle has crossed the virtual boundary. 19.The method of claim 16, wherein the virtual boundary includes an innerboundary and an outer boundary, wherein the inner boundary is disposedwithin the outer boundary.
 20. The method of claim 19, wherein comparingthe movement to the virtual boundary includes determining whether atleast one of an edge of the potential cut-in vehicle and a centroid ofthe potential cut-in vehicle has crossed at least one of the innerboundary and the outer boundary.